Vehicular driving assist system

Abstract

A vehicular driving assistance system includes a camera disposed at a vehicle and a control having an image processor that processes image data captured by the camera to determine lane markings demarcating a traffic lane in which the vehicle is traveling. The control, responsive to a map input to the control, estimates a path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are not readily determinable. The system updates the estimated path of travel ahead of the vehicle even when no lane markings are determined present on the road ahead of the vehicle. The control adjusts processing of captured image data responsive at least in part to a driving situation that the vehicle is in.

The invention claimed is: 
     
       1. A vehicular driving assistance system, said vehicular driving assistance system comprising:
 a camera disposed at a vehicle equipped with said vehicular driving assistance system, said camera having a field of view forward of the vehicle; 
 a control comprising an image processor that is operable to process image data captured by said camera; 
 wherein, responsive to processing by said image processor of image data captured by said camera, said control determines lane markings demarcating a traffic lane in which the vehicle is traveling; 
 wherein, responsive to a map input to said control, said control estimates a path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are not readily determinable; 
 wherein said vehicular driving assistance system updates the estimated path of travel ahead of the vehicle even when no lane markings are determined present on the road ahead of the vehicle; and 
 wherein said control adjusts processing by said image processor of image data captured by said camera responsive at least in part to a driving situation that the vehicle is 
 wherein said control estimates the path of travel for the vehicle at least responsive to vehicle information, 
 wherein the vehicle information comprises differential wheel speeds of the vehicle. 
 
     
     
       2. The vehicular driving assistance system of  claim 1 , wherein the map input is from a digital map that provides road information pertaining to the road along which the vehicle is traveling. 
     
     
       3. The vehicular driving assistance system of  claim 1 , wherein the vehicle information comprises speed of the vehicle. 
     
     
       4. The vehicular driving assistance system of  claim 1 , wherein the vehicle information comprises yaw rate of the vehicle. 
     
     
       5. The vehicular driving assistance system of  claim 1 , wherein the driving situation comprises the vehicle cresting a hill. 
     
     
       6. The vehicular driving assistance system of  claim 1 , wherein the driving situation comprises the vehicle crossing an intersection. 
     
     
       7. The vehicular driving assistance system of  claim 1 , wherein the driving situation comprises the vehicle passing an entrance ramp. 
     
     
       8. The vehicular driving assistance system of  claim 1 , wherein the driving situation comprises the vehicle passing an exit ramp. 
     
     
       9. The vehicular driving assistance system of  claim 1 , wherein said control estimates the path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are lost by said camera for a period of time. 
     
     
       10. The vehicular driving assistance system of  claim 1 , wherein said control estimates the path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are lost by said camera as the vehicle crosses an intersection. 
     
     
       11. The vehicular driving assistance system of  claim 1 , wherein said control estimates the path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where lane markings are erroneously determined by processing by said image processor of captured image data alone. 
     
     
       12. The vehicular driving assistance system of  claim 1 , wherein said control estimates the path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where processing by said image processor of image data alone determines lane markings that are not demarcating the traffic lane in which the vehicle is traveling. 
     
     
       13. The vehicular driving assistance system of  claim 1 , wherein said control estimates the path of travel for the vehicle at least in part responsive to a location input from a global positioning system to said control that provides the vehicle's current geographical location information. 
     
     
       14. A vehicular driving assistance system, said vehicular driving assistance system comprising:
 a camera disposed at a vehicle equipped with said vehicular driving assistance system, said camera having a field of view forward of the vehicle; 
 a control comprising an image processor that is operable to process image data captured by said camera; 
 wherein, responsive to processing by said image processor of image data captured by said camera, said control determines lane markings demarcating a traffic lane in which the vehicle is traveling; 
 wherein, responsive to a map input to said control, said control estimates a path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are not readily determinable; 
 wherein the map input is from a digital map that provides road information pertaining to the road along which the vehicle is traveling; 
 wherein said control estimates the path of travel for the vehicle at least responsive to vehicle information; 
 wherein said vehicular driving assistance system updates the estimated path of travel ahead of the vehicle even when no lane markings are determined present on the road ahead of the vehicle; and 
 wherein said control adjusts processing by said image processor of image data captured by said camera responsive at least in part to a driving situation that the vehicle is 
 wherein the vehicle information comprises differential wheel speeds of the vehicle. 
 
     
     
       15. The vehicular driving assistance system of  claim 14 , wherein the vehicle information comprises speed of the vehicle. 
     
     
       16. The vehicular driving assistance system of  claim 14 , wherein the vehicle information comprises yaw rate of the vehicle. 
     
     
       17. The vehicular driving assistance system of  claim 14 , wherein said control estimates the path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are lost by said camera for a period of time. 
     
     
       18. A vehicular driving assistance system, said vehicular driving assistance system comprising:
 a camera disposed at a vehicle equipped with said vehicular driving assistance system, said camera having a field of view forward of the vehicle; 
 a control comprising an image processor that is operable to process image data captured by said camera; 
 wherein, responsive to processing by said image processor of image data captured by said camera, said control determines lane markings demarcating a traffic lane in which the vehicle is traveling; 
 wherein, responsive to a map input to said control, said control estimates a path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are at least one selected from the group consisting of (i) not readily determinable, (ii) lost by said camera for a period of time, (iii) lost by said camera as the vehicle crosses an intersection; 
 wherein the map input is from a digital map that provides road information pertaining to the road along which the vehicle is traveling; 
 wherein said vehicular driving assistance system updates the estimated path of travel ahead of the vehicle even when no lane markings are determined present on the road ahead of the vehicle; and 
 wherein said control adjusts processing by said image processor of image data captured by said camera responsive at least in part to a driving situation that the vehicle is 
 wherein said control estimates the path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where lane markings are erroneously determined by processing by said image processor of captured image data alone. 
 
     
     
       19. The vehicular driving assistance system of  claim 18 , wherein the driving situation comprises the vehicle cresting a hill. 
     
     
       20. The vehicular driving assistance system of  claim 18 , wherein the driving situation comprises the vehicle crossing an intersection. 
     
     
       21. The vehicular driving assistance system of  claim 18 , wherein the driving situation comprises the vehicle passing an entrance ramp. 
     
     
       22. The vehicular driving assistance system of  claim 18 , wherein the driving situation comprises the vehicle passing an exit ramp. 
     
     
       23. The vehicular driving assistance system of  claim 18 , wherein said control estimates the path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where processing by said image processor of image data alone determines lane markings that are not demarcating the traffic lane in which the vehicle is traveling.